CN105180931A - Inertial navigation system for storage AGV - Google Patents
Inertial navigation system for storage AGV Download PDFInfo
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- CN105180931A CN105180931A CN201510588416.4A CN201510588416A CN105180931A CN 105180931 A CN105180931 A CN 105180931A CN 201510588416 A CN201510588416 A CN 201510588416A CN 105180931 A CN105180931 A CN 105180931A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/005—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 with correlation of navigation data from several sources, e.g. map or contour matching
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Navigation (AREA)
Abstract
The invention discloses an inertial navigation system for storage AGV (Automatic Guided Vehicle). The inertial navigation system comprises a gyroscope, a magnetic nail, an encoder, a magnetic sensor, a RFID (Radio Frequency Identification Device) card, a RFID card reader, a control unit, left and right drivers and left and right wheels, wherein the magnetic nail and the RFID card are arranged on an AGV channel; the gyroscope, the RFID card reader and the control unit are arranged on the AGV; the magnetic sensor is arranged on a central line at the bottom of a vehicle head; the left and right drivers and the left and right wheels are arranged at the bottom of the vehicle; the drivers are connected with the wheels; the gyroscope, the magnetic sensor, the encoder, the RFID card reader and the left and right drivers are respectively connected with the control unit. The magnetic nail instead of a magnetic stripe and a two-dimension code is adopted by the system, so that the cost is effectively saved while the defect that a two-dimension code is seriously influenced by dusty environment is settled, the trackless navigation manner is realized, the measuring position of the system is accurate, the position precision can reach +/-5mm, the measuring angle is accurate, the angle accuracy is +/-0.1 degree, the navigation precision is high and the resources are effectively saved.
Description
Technical field
The invention belongs to automation field, particularly the inertial navigation system of a kind of applicable storage AGV.
Background technology
At present along with industry 4.0 and made in China 2015, Intelligent logistics and intelligence manufacture have become manufacturing industry and Plant development trend is inevitable.And the automatic transporting effect of AGV (automatically guiding trolley) in logistics system, have very important effect in production efficiency and management, particularly increasing along with factory products kind and quantity, automatic stored effect will be more and more obvious.And so-called guiding automatically, be namely run along intended trajectory, navigate mode common at present has photoelectric sensor, vision guided navigation, laser navigation and magnetic navigation sensor etc.In general depot, have and place neat shelf, each unit shelf have upper and lower several lattice, and AGV needs corresponding goods to be placed on corresponding unit place, therefore because difference is deposited a little, make AGV path will variation and complicated.In current AGV industry, the normal magnetic stripe that adopts navigates, but magnetic stripe is laid and will be seemed close and numerous like this, not only unsightly, AGV will be had influence on because magnetic stripe complexity is staggered normally to run, even because magnetic stripe has certain altitude, AGV operational shock can be caused even to wander off; Current U.S. Amazon adopts KIVASYSTEM product, its navigate mode is based on Quick Response Code, although Quick Response Code is laid simple, but (domestic especially storehouse) does not have dust accretions, human footmarks, clean water stain etc. unavoidably in warehouse, these factors not only make visual identity Quick Response Code make mistakes, and two-dimension code label even also may be caused to take off.Magnetic stripe navigation and Quick Response Code vision guided navigation mode neither can meet the automatic stored requirement of storehouse, therefore market are badly in need of a kind ofly meeting automatic stored AGV navigational system.
Summary of the invention
The object of the invention is to overcome the deficiencies in the prior art, the inertial navigation system of a kind of applicable storage AGV is provided, this system adopts magnetic nail to replace magnetic stripe and Quick Response Code, and can solve Quick Response Code while effectively cost-saving affects more serious defect by dirty environment, realizes trackless navigate mode, this systematic survey position is accurate, positional precision can reach ± 5mm, and take measurement of an angle accurately, angle precision is ± 0.1 degree, its navigation accuracy is high, effectively economizes on resources.
The object of the invention is to be achieved through the following technical solutions: the inertial navigation system of a kind of applicable storage AGV, it comprises gyroscope, magnetic is followed closely, scrambler, Magnetic Sensor, rfid card, RFID card reader, control module, left and right driver and left and right wheels, described magnetic nail and rfid card are arranged on AGV navigation channel, gyroscope, RFID card reader and control module are arranged on AGV, Magnetic Sensor is arranged on the center line bottom dolly headstock, left and right driver and left and right wheels are arranged on bottom dolly, driver is connected with wheel, described gyroscope, Magnetic Sensor, scrambler, RFID card reader is connected with control module respectively with left and right driver, described control module comprises the magnetic nail read module, offset data acquisition module, path planning module, gyroscope angle acquisition module, angle calibration system module, RFID read module, operation control module and the gyro instrument control rotary module that connect successively, magnetic nail read module is connected with Magnetic Sensor, gyroscope angle acquisition module is connected with gyroscope, gyro instrument control rotary module is connected with left and right driver, and RFID read module is connected with RFID card reader.
Described magnetic nail read module reads the magnetic nail data of Magnetic Sensor collection by the serial ports of control module.
Described offset data acquisition module obtains the angle and distance of dolly skew running orbit according to the magnetic spike state that Magnetic Sensor obtains.
Described path planning module cooks up AGV radius of turn according to the angle and distance of dolly skew running orbit, controls left and right differential simultaneously and realizes with this semidiameter turn.
After gyrostatic raw data processes by described gyroscope angle acquisition module, and integration obtains the angle in this moment of AGV.
Described angle calibration system module is calibrated the angle that gyroscope obtains by the angle of magnetic nail calibration.
Described RFID read module at AGV trolley travelling to reading No. ID of RFID terrestrial reference during the magnetic nail place, intersection in path.
Described operation control module, carries out coupling by ID in the ID of RFID and task path and show that corresponding actions determines AGV operational mode, then starts the pivot turn of AGV differential as turned.
Described gyro instrument control rotary module realizes pivot turn 90 degree.
The invention has the beneficial effects as follows: the inertial navigation system that the invention provides a kind of applicable storage AGV, this system adopts magnetic nail to replace magnetic stripe and Quick Response Code, Quick Response Code can be solved while effectively having saved cost and affect more serious defect by dirty environment, achieve trackless navigate mode, this systematic survey position is accurate, and positional precision can reach ± 5mm, take measurement of an angle accurately, angle precision is ± 0.1 degree, and its navigation accuracy is high, effectively economizes on resources.
Accompanying drawing explanation
Fig. 1 is navigational system structural drawing;
Fig. 2 is control module structural drawing.
Embodiment
Below in conjunction with accompanying drawing, technical scheme of the present invention is described in further detail, but protection scope of the present invention is not limited to the following stated.
As shown in Figure 1, the inertial navigation system of a kind of applicable storage AGV, it comprises gyroscope, magnetic is followed closely, scrambler, Magnetic Sensor, rfid card, RFID card reader, control module, left and right driver and left and right wheels, described magnetic nail and rfid card are arranged on AGV navigation channel, gyroscope, RFID card reader and control module are arranged on AGV, Magnetic Sensor is arranged on the center line bottom dolly headstock, left and right driver and left and right wheels are arranged on bottom dolly, driver is connected with wheel, described gyroscope, Magnetic Sensor, scrambler, RFID card reader is connected with control module respectively with left and right driver.As shown in Figure 2, control module comprises the magnetic nail read module, offset data acquisition module, path planning module, gyroscope angle acquisition module, angle calibration system module, RFID read module, operation control module and the gyro instrument control rotary module that connect successively, magnetic nail read module is connected with Magnetic Sensor, gyroscope angle acquisition module is connected with gyroscope, gyro instrument control rotary module is connected with left and right driver, and RFID read module is connected with RFID card reader.
Described magnetic nail read module reads the magnetic nail data of Magnetic Sensor collection by the serial ports of control module.
Described offset data acquisition module obtains the angle and distance of dolly skew running orbit according to the magnetic spike state that Magnetic Sensor obtains.
Described path planning module cooks up AGV radius of turn according to the angle and distance of dolly skew running orbit, controls left and right differential simultaneously and realizes with this semidiameter turn.
After gyrostatic raw data processes by described gyroscope angle acquisition module, and integration obtains the angle in this moment of AGV.
Described angle calibration system module is calibrated the angle that gyroscope obtains by the angle of magnetic nail calibration.
Described RFID read module at AGV trolley travelling to reading No. ID of RFID terrestrial reference during the magnetic nail place, intersection in path.
Described operation control module, carries out coupling by ID in the ID of RFID and task path and show that corresponding actions determines AGV operational mode, then starts the pivot turn of AGV differential as turned.
Described gyro instrument control rotary module realizes pivot turn 90 degree.
Claims (9)
1. one kind is applicable to the inertial navigation system of storage AGV, it is characterized in that: it comprises gyroscope, magnetic is followed closely, scrambler, Magnetic Sensor, rfid card, RFID card reader, control module, left and right driver and left and right wheels, described magnetic nail and rfid card are arranged on AGV navigation channel, gyroscope, RFID card reader and control module are arranged on AGV, Magnetic Sensor is arranged on the center line bottom dolly headstock, left and right driver and left and right wheels are arranged on bottom dolly, driver is connected with wheel, described gyroscope, Magnetic Sensor, scrambler, RFID card reader is connected with control module respectively with left and right driver, described control module comprises the magnetic nail read module, offset data acquisition module, path planning module, gyroscope angle acquisition module, angle calibration system module, RFID read module, operation control module and the gyro instrument control rotary module that connect successively, magnetic nail read module is connected with Magnetic Sensor, gyroscope angle acquisition module is connected with gyroscope, gyro instrument control rotary module is connected with left and right driver, and RFID read module is connected with RFID card reader.
2. the inertial navigation system of a kind of applicable storage AGV according to claim 1, is characterized in that: described magnetic nail read module reads the magnetic nail data of Magnetic Sensor collection by the serial ports of control module.
3. the inertial navigation system of a kind of applicable storage AGV according to claim 1, is characterized in that: described offset data acquisition module obtains the angle and distance of dolly skew running orbit according to the magnetic spike state that Magnetic Sensor obtains.
4. the inertial navigation system of a kind of applicable storage AGV according to claim 1, it is characterized in that: described path planning module cooks up AGV radius of turn according to the angle and distance of dolly skew running orbit, control left and right differential simultaneously and realize with this semidiameter turn.
5. the inertial navigation system of a kind of applicable storage AGV according to claim 1, is characterized in that: after gyrostatic raw data processes by described gyroscope angle acquisition module, and integration obtains the angle in this moment of AGV.
6. the inertial navigation system of a kind of applicable storage AGV according to claim 1, is characterized in that: described angle calibration system module is calibrated the angle that gyroscope obtains by the angle of magnetic nail calibration.
7. the inertial navigation system of a kind of applicable storage AGV according to claim 1, is characterized in that: described RFID read module is in reading RFID terrestrial reference during the magnetic nail place, intersection in path No. ID of AGV trolley travelling.
8. the inertial navigation system of a kind of applicable storage AGV according to claim 1, it is characterized in that: ID in the ID of RFID and task path is carried out coupling and show that corresponding actions determines AGV operational mode by described operation control module, then starting the pivot turn of AGV differential as turned.
9. the inertial navigation system of a kind of applicable storage AGV according to claim 1, is characterized in that: described gyro instrument control rotary module realizes pivot turn 90 degree.
Priority Applications (1)
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| CN201510588416.4A CN105180931A (en) | 2015-09-16 | 2015-09-16 | Inertial navigation system for storage AGV |
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| CN201510588416.4A CN105180931A (en) | 2015-09-16 | 2015-09-16 | Inertial navigation system for storage AGV |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105928514A (en) * | 2016-04-14 | 2016-09-07 | 广州智能装备研究院有限公司 | AGV composite guiding system based on image and inertia technology |
| CN106441277A (en) * | 2016-09-28 | 2017-02-22 | 深圳市普渡科技有限公司 | Robot pose estimation method based on encoder and inertial navigation unit |
| CN106840152A (en) * | 2017-01-24 | 2017-06-13 | 北京联合大学 | A kind of high-precision integrated navigation system and method towards indoor mobile robot |
| CN107621826A (en) * | 2017-09-18 | 2018-01-23 | 天津工业大学 | Intelligent movable tracks car |
| CN107741596A (en) * | 2017-11-07 | 2018-02-27 | 浙江理工大学 | A kind of GPS/INS navigation system of magnetic nail positioning auxiliary |
| CN108279026A (en) * | 2018-01-19 | 2018-07-13 | 浙江科钛机器人股份有限公司 | A kind of AGV inertial navigation systems and method based on T-type RFID beacons |
| CN108594800A (en) * | 2018-01-19 | 2018-09-28 | 浙江科钛机器人股份有限公司 | A kind of AGV complex navigation system and methods of fusion Magnetic Sensor and gyro data |
| CN109870156A (en) * | 2017-12-04 | 2019-06-11 | 北京自动化控制设备研究所 | A kind of automobile-used inexpensive micro-mechanical inertial navigation system Camera calibration method |
| CN109877835A (en) * | 2019-03-13 | 2019-06-14 | 深兰科技（上海）有限公司 | A kind of localization method of robot, device, equipment and medium |
| CN110243363A (en) * | 2019-07-03 | 2019-09-17 | 西南交通大学 | A kind of AGV real-time location method based on inexpensive IMU in conjunction with RFID technique |
| CN110703745A (en) * | 2019-09-10 | 2020-01-17 | 上海快仓智能科技有限公司 | Navigation of an automated guided vehicle |
| CN112862041A (en) * | 2021-03-09 | 2021-05-28 | 苏州牧星智能科技有限公司 | AGV (automatic guided vehicle) scheduling system and method based on RFID (radio frequency identification device) |
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Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105928514A (en) * | 2016-04-14 | 2016-09-07 | 广州智能装备研究院有限公司 | AGV composite guiding system based on image and inertia technology |
| CN106441277A (en) * | 2016-09-28 | 2017-02-22 | 深圳市普渡科技有限公司 | Robot pose estimation method based on encoder and inertial navigation unit |
| CN106840152A (en) * | 2017-01-24 | 2017-06-13 | 北京联合大学 | A kind of high-precision integrated navigation system and method towards indoor mobile robot |
| CN107621826A (en) * | 2017-09-18 | 2018-01-23 | 天津工业大学 | Intelligent movable tracks car |
| CN107741596A (en) * | 2017-11-07 | 2018-02-27 | 浙江理工大学 | A kind of GPS/INS navigation system of magnetic nail positioning auxiliary |
| CN109870156A (en) * | 2017-12-04 | 2019-06-11 | 北京自动化控制设备研究所 | A kind of automobile-used inexpensive micro-mechanical inertial navigation system Camera calibration method |
| CN108594800A (en) * | 2018-01-19 | 2018-09-28 | 浙江科钛机器人股份有限公司 | A kind of AGV complex navigation system and methods of fusion Magnetic Sensor and gyro data |
| CN108279026A (en) * | 2018-01-19 | 2018-07-13 | 浙江科钛机器人股份有限公司 | A kind of AGV inertial navigation systems and method based on T-type RFID beacons |
| CN108594800B (en) * | 2018-01-19 | 2021-07-06 | 浙江科钛机器人股份有限公司 | AGV composite navigation system and method fusing magnetic sensor and gyroscope data |
| CN109877835A (en) * | 2019-03-13 | 2019-06-14 | 深兰科技（上海）有限公司 | A kind of localization method of robot, device, equipment and medium |
| CN110243363A (en) * | 2019-07-03 | 2019-09-17 | 西南交通大学 | A kind of AGV real-time location method based on inexpensive IMU in conjunction with RFID technique |
| CN110243363B (en) * | 2019-07-03 | 2020-07-17 | 西南交通大学 | AGV real-time positioning method based on combination of low-cost IMU and RFID technology |
| CN110703745A (en) * | 2019-09-10 | 2020-01-17 | 上海快仓智能科技有限公司 | Navigation of an automated guided vehicle |
| CN112862041A (en) * | 2021-03-09 | 2021-05-28 | 苏州牧星智能科技有限公司 | AGV (automatic guided vehicle) scheduling system and method based on RFID (radio frequency identification device) |
| CN112862041B (en) * | 2021-03-09 | 2023-09-19 | 苏州牧星智能科技有限公司 | AGV scheduling system and method based on RFID |
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